This PR achieves a slimmer vehicle supervisor by filtering CAN messages that are not required by the autonomous system. Additionally, this publishes sensor data out of the CANbus translator rather than out of the supervisor.
Has been tested against simulated vehicle heartbeat CAN states that were designed for the old vehice supervisor and functionality is equivalent.
[required] Documentation
Created Driverless/Documentation/Software/Infrastructure/Vehicle State Control - included old state machine information.
[optional] Usability concerns or breaking changes?
Will require a car shakedown to confirm CAN messages are being filtered as expected - quick fix for CAN ids if not.
What type of PR is this? (check all applicable)
[required] Description
This PR achieves a slimmer vehicle supervisor by filtering CAN messages that are not required by the autonomous system. Additionally, this publishes sensor data out of the CANbus translator rather than out of the supervisor. Has been tested against simulated vehicle heartbeat CAN states that were designed for the old vehice supervisor and functionality is equivalent.
[required] Documentation
Created
Driverless/Documentation/Software/Infrastructure/Vehicle State Control- included old state machine information.[optional] Usability concerns or breaking changes?
Will require a car shakedown to confirm CAN messages are being filtered as expected - quick fix for CAN ids if not.